﻿/*
 * C# / XNA  port of Bullet (c) 2011 Mark Neale <xexuxjy@hotmail.com>
 *
 * Bullet Continuous Collision Detection and Physics Library
 * Copyright (c) 2003-2008 Erwin Coumans  http://www.bulletphysics.com/
 *
 * This software is provided 'as-is', without any express or implied warranty.
 * In no event will the authors be held liable for any damages arising from
 * the use of this software.
 * 
 * Permission is granted to anyone to use this software for any purpose, 
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 * 
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */

using BulletXNA.BulletCollision;
using BulletXNA.LinearMath;

namespace BulletXNA.BulletDynamics
{
    public interface IConstraintSolver
    {
	    void PrepareSolve (int numBodies , int numManifolds);

	    ///solve a group of constraints
	    float SolveGroup(ObjectArray<CollisionObject> bodies,int numBodies,PersistentManifoldArray manifold,int startManifold,int numManifolds,ObjectArray<TypedConstraint> constraints, int startConstraint, int numConstraints, ContactSolverInfo info,IDebugDraw debugDrawer, IDispatcher dispatcher);

	    void AllSolved (ContactSolverInfo info ,IDebugDraw debugDrawer);

	    ///clear internal cached data and reset random seed
	    void Reset();

        void Cleanup();
    }
}
